Planning: decrease all speed weight by 10 times

modules/planning/common/speed_profile_generator.cc

@@ -67,7 +67,7 @@ SpeedData SpeedProfileGenerator::GenerateFallbackSpeed(
   PiecewiseJerkSpeedProblem piecewise_jerk_problem(num_of_knots, delta_t,
                                                    init_s);
 
-  piecewise_jerk_problem.set_end_state_ref({10000.0, 0.0, 0.0}, end_s);
+  piecewise_jerk_problem.set_end_state_ref({1000.0, 0.0, 0.0}, end_s);
 
   // TODO(Hongyi): tune the params and move to a config
   piecewise_jerk_problem.set_weight_ddx(1.0);

modules/planning/conf/planning_config.pb.txt

@@ -23,11 +23,11 @@ default_task_config: {
 default_task_config: {
   task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
   piecewise_jerk_speed_config {
-    acc_weight: 10.0
-    jerk_weight: 30.0
-    kappa_penalty_weight: 20000.0
-    ref_s_weight: 100.0
-    ref_v_weight: 100.0
+    acc_weight: 1.0
+    jerk_weight: 3.0
+    kappa_penalty_weight: 2000.0
+    ref_s_weight: 10.0
+    ref_v_weight: 10.0
   }
 }
 default_task_config: {

modules/planning/proto/piecewise_jerk_speed_config.proto

@@ -3,9 +3,9 @@ syntax = "proto2";
 package apollo.planning;
 
 message PiecewiseJerkSpeedConfig {
-  optional double acc_weight = 1 [default = 10.0];
-  optional double jerk_weight = 2 [default = 100.0];
-  optional double kappa_penalty_weight = 3 [default = 10000.0];
-  optional double ref_s_weight = 4 [default = 100.0];
-  optional double ref_v_weight = 5 [default = 100.0];
+  optional double acc_weight = 1 [default = 1.0];
+  optional double jerk_weight = 2 [default = 10.0];
+  optional double kappa_penalty_weight = 3 [default = 1000.0];
+  optional double ref_s_weight = 4 [default = 10.0];
+  optional double ref_v_weight = 5 [default = 10.0];
 }